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External libraries are added as 'components'. I suggest you take a look at the great work by UncleRus et al, you can add the repository as a git submodule and add the items you want to use as a 'REQUIRES' statement in your CMakeLists.txt file.
ESP-IDF 5.x is more strict/contains no default components and wants every single component to be registered using the requires keyword, so when you want to use something like gpio or uart, you will have to add 'driver' to this section. But once you get this running, you will appreciate the way things work. Using the vscode (works in codium also) plugin is really great compared to idf.py, but this tool is also great when you start some sort of CI/CD like setup. x And the documentation and examples by Espressif are a really good source of information.
And yes! LearnESP32.com by Mair is a great way to getting started. Checkout his github page for valuable info.